In recent years realtime physics has become more and more important in modern computer games. While the number of commercial and non-commercial graphics engines increases year after year, with Havok and PhysX are only two commercial game physics engines available. On the other hand, the non-commercial game physics engines cannot simulate the number of bodies (>1000) that are needed in modern games. Our PhysicsAndMathLibrary was designed as an easy to use, inexpensive alternative for commercial game developers, based upon a lot of techniques originally described in the book